82 citations · 220 across the 23 of their papers we have counts for
5 papers · 1 filter
Optimal Control of a Fluxonium Circuit with the Q-PRONTO Numerical Method
John Barta, Brian D. Isakov, Pablo Aramburu Sanchez +5
Optimizing the control of large quantum systems is a resource-intensive task, where the convergence rate of the underlying iterative schemes is crucial. The recently developed Quan…
Using Finite-Time Control to Synthesize Dynamic Backup Control Barrier Functions
Victor Turpin-Aguayo, Victor Freire, Marco M. Nicotra
This paper presents a novel approach for the construction of control barrier functions (CBFs) for controllable linear systems subject to multiple state and input constraints. The a…
Direct and Indirect Data-Driven Control with Prior Information about the Equilibrium Manifold
Yi-Chun Liao, Valentina Breschi, Marco M. Nicotra
By hinging on the assumption that a system to be controlled is fully unknown, many data-driven control approaches do not leverage available or readily inferable priors. In contrast…
A Semi-smooth Newton Method for the Constrained Optimal Control of Continuous-Time Linear Systems
Simon J. Jones, Dominic Liao-McPherson, Marco M. Nicotra
This paper details a novel indirect method for solving constrained optimal control problems (OCPs) directly in continuous-time function space. The KKT conditions are embedded in a…
Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
Gilberto G. Briscoe-Martinez, Yaashia Gautam, Rahul Shetty +3
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks ev…